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29 |
29 |
30 #ifndef __SDOCOMMAND_H__ |
30 #ifndef __SDOCOMMAND_H__ |
31 #define __SDOCOMMAND_H__ |
31 #define __SDOCOMMAND_H__ |
32 |
32 |
33 #include "Command.h" |
33 #include "Command.h" |
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34 #include "DataTypeHandler.h" |
34 |
35 |
35 /****************************************************************************/ |
36 /****************************************************************************/ |
36 |
37 |
37 class SdoCommand: |
38 class SdoCommand: |
38 public Command |
39 public Command, |
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40 public DataTypeHandler |
39 { |
41 { |
40 public: |
42 public: |
41 SdoCommand(const string &, const string &); |
43 SdoCommand(const string &, const string &); |
42 |
44 |
43 struct DataType { |
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44 const char *name; |
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45 uint16_t coeCode; |
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46 unsigned int byteSize; |
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47 }; |
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48 static const DataType *findDataType(const string &); |
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49 static const DataType *findDataType(uint16_t); |
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50 static const char *abortText(uint32_t); |
45 static const char *abortText(uint32_t); |
51 |
46 |
52 private: |
47 private: |
53 struct AbortMessage { |
48 struct AbortMessage { |
54 uint32_t code; |
49 uint32_t code; |
55 const char *message; |
50 const char *message; |
56 }; |
51 }; |
57 |
52 |
58 static const DataType dataTypes[]; |
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59 static const AbortMessage abortMessages[]; |
53 static const AbortMessage abortMessages[]; |
60 }; |
54 }; |
61 |
55 |
62 /****************************************************************************/ |
56 /****************************************************************************/ |
63 |
57 |